Interference Detection and Collision Avoidance Among Three Dimensional Objects

N. Ahuja, R. T. Chien, R. Yen, N. Bridwell

Two methods for detecting intersections among three dimensional objects are described. The first method involves detecting overlap among the projections of the objects on a given set of planes. The second method uses a three dimensional octree representation of the objects. Intersections are detected by traversing the trees for the obstacles and the moving objects. Application of the methods to collision avoidance is discussed.

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